Car 5961 pcd fusion to ros2 #111
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…enable publishing unstructured point clouds
JonSmet
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velodyne_lidar_driver_wrapper/launch/velodyne_lidar_driver_wrapper_launch.py
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velodyne_lidar_driver_wrapper/launch/velodyne_lidar_driver_wrapper_launch.py
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velodyne_lidar_driver_wrapper/launch/velodyne_lidar_driver_wrapper_launch.py
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…t_type_adapter (#21) # PR Details ## Description This PR adds a new launch and config file for launching the [point_type_adapter](https://github.com/usdot-fhwa-stol/autoware.auto/tree/develop/AutowareAuto/src/tools/point_type_adapter) and [point_cloud_fusion_node](https://github.com/usdot-fhwa-stol/autoware.auto/tree/develop/AutowareAuto/src/perception/filters/point_cloud_fusion_nodes), Autoware.Auto's ROS2 version of the [points_concat_filter](https://github.com/usdot-fhwa-stol/autoware.ai/tree/carma-develop/core_perception/points_preprocessor/nodes/points_concat_filter) package in Autoware.AI. This is configured to fuse the point clouds from the two LiDAR sensors onboard the CARMA freight trucks. Related PRs: - [usdotfhwastol/carma-config #330](usdot-fhwa-stol/carma-config#330) - [usdotfhwastol/carma-velodyne-lidar-driver #111](usdot-fhwa-stol/carma-velodyne-lidar-driver#111) ## Related Jira Key [CAR-5961](https://usdot-carma.atlassian.net/browse/CAR-5961) ## Motivation and Context Currently, freightliner trucks equipped with CARMA Platform have two velodyne lidars (compared to the single velodyne lidar on our passenger vehicles equipped with CARMA Platform), and the autoware.ai ‘[points_concat_filter](https://github.com/usdot-fhwa-stol/autoware.ai/tree/carma-develop/core_perception/points_preprocessor/nodes/points_concat_filter)’ node (a ROS 1 Noetic node) is used to concatenate these two point clouds into a single point cloud to be used by the rest of the system. As part of the overall migration from ROS 1 Noetic to ROS 2 Foxy for CARMA Platform, the system should leverage the ROS 2 Foxy version of this node made available in Autoware.Auto. ## How Has This Been Tested? This was tested by launching CARMA Platform on the freight truck and verifying that `point_cloud_fusion_nodes` fused the scans from the two velodyne sensors and published the result with the correct topic name and frame id. ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [x] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [ ] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [ ] I have updated the documentation accordingly. - [x] I have read the [**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) document. - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed. [CAR-5961]: https://usdot-carma.atlassian.net/browse/CAR-5961?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
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PR Details
Description
This PR directly launches the
velodyne_convert_nodefrom thevelodyne_pointcloudpackage withinvelodyne_lidar_driver_wrapper.launch.pyto enable publishing unorganized point clouds. This behavior is later needed to fuse the two point clouds onboard the truck using thepoint_cloud_fusion_nodesautoware.auto package. The previous implementation attempted to instruct the driver to publish unstructured point clouds by declaringorganize_cloudas a launch argument, butvelodyne_conver_node-VLP32C-launch.pyexpects this to be set inVLP32C-velodyne_convert_node-params.yaml.Related PRs:
Related Jira Key
CAR-5961
Motivation and Context
Currently, freightliner trucks equipped with CARMA Platform have two velodyne lidars (compared to the single velodyne lidar on our passenger vehicles equipped with CARMA Platform), and the autoware.ai ‘points_concat_filter’ node (a ROS 1 Noetic node) is used to concatenate these two point clouds into a single point cloud to be used by the rest of the system. As part of the overall migration from ROS 1 Noetic to ROS 2 Foxy for CARMA Platform, the system should leverage the ROS 2 Foxy version of this node made available in Autoware.Auto.
How Has This Been Tested?
This change was tested onboard the DOT-80550 truck by launching the lidar driver and verifying that the
widthfield of the published point clouds is equal to the number of points present in the cloud.Types of changes
Checklist: